eBot Waypoint Navigation & Path Planning

An autonomous navigation system developed for the eBot robotics platform. This project implements a precise path-planning script that commands the robot to sequentially traverse a series of pre-defined waypoints across a 2D plane, ensuring exact orientation profiling at each goal location.

🚀 Features

• Sequential Waypoint Traversal: Executes multi-point navigation routines continuously across a designated map or space.
• Full Pose Alignment: Targets precise spatial coordinates $(X, Y)$ while simultaneously calculating and aligning to the required orientation ($\text{Yaw}$).
• Real-time Odometry Tracking: Monitors and corrects heading errors during transit to ensure high accuracy between nodes.

🛠️ System & Tech Stack

• Language: Python 3.x
• Core Concepts: Differential Drive Kinematics, Odometry, Coordinate Transformation, Closed-loop Control.
• Target Hardware: eBot Mobile Robot Platform.

📂 Project Structure

• navigation_script.py - Core Python execution script hosting the waypoint sequence array and the movement control loop.
• README.md - Documentation of system design and execution.

📋 How It Works

1. Pose Matrix Definition: Waypoints are supplied to the navigation controller as an array of target states: $[X_i, Y_i, \text{Yaw}_i]$.
2. Heading Correction: The robot calculates the distance and angle relative to the upcoming waypoint.
3. Linear & Angular Control: Closed-loop velocity feedback adjusts wheel speeds to reach the target location within defined tolerance thresholds.
4. Final Rotation: Upon reaching the physical $X,Y$ coordinate, the robot spins in place to match the specific target $\text{Yaw}$ orientation before transitioning to the next objective.

🔧 Installation & Usage

1. Clone the repository directly to your workspace:

   git clone [https://github.com/YOUR_USERNAME/ebot-waypoint-navigation.git](https://github.com/YOUR_USERNAME/ebot-waypoint-navigation.git)